From my knowledge, the computer will protect the transmission/engine from damaging itself. I usually put my car in neutral when I'm at a long stop light, and once in a while forget I had it in neutral. When I give it gas and shift back into Drive, the car eases forward, kinda like a manual when you let of the clutch. So far I haven't had any problems.
As for the noise while turning, can you describe it a little more? Is it more of a squeaking/creaking or rubbing sound?
Edit: If it's a whining sound that occurs when you turn the wheel all the way to the left or right, while turning hard or tight, then I think it's just the power steering motor…if where talking about a whining/mechanical sound then it shouldn't be a problem.
If your still worried, just take it to Audi and see what they say. They can't do any work until you agree.
Last edited by Aatish11; 05-22-2014 at 07:54 AM.